Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

2019 ◽  
Author(s):  
Rui Yu ◽  
Haochen Qi ◽  
Kamal Upadhyay ◽  
Hua Zhou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Wave Loads ◽  
Environmental Disturbances ◽  
Mode Control ◽  
Gain Adaptation ◽  
Surface Vessels ◽  
Adaptation Law

Abstract Robust trajectory tracking is a vitally important issue to underactuated unmanned surface vessels (USVs). In this paper, a sliding-mode control method with switching-gain adaptation is proposed to force an underactuated USV to track a predefined trajectory, despite the presence of parametric uncertainties and unknown environmental disturbances induced by the wave loads, the wind and the ocean currents. The proposed controller is designed using sliding-mode control (SMC) and backstepping and switching-gain adaptation techniques. In this methodology, SMC and backstepping technique are combined to enhance the robustness of the system, and the switching-gain adaptation law based on the ideal switching-gain is employed to alleviate the chattering problem. In addition, we have proved the global asymptotic stability of the closed-loop system under the discontinuous thruster forces or the varying uncertain terms related to the velocities and the environmental disturbances. Finally, numerical simulations are provided to demonstrate the robustness and effectiveness of the proposed method for trajectory tracking of underactuated USVs.

scholarly journals INTEGRAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING CONTROL OF ROBOTIC MANIPULATORS USING AN ADAPTIVE TWISTING ALGORITHM

2019 ◽  
Vol 17 (12.2) ◽  
pp. 42
Author(s):  
Anh Tuan Vo ◽  
Ngoc Hoai An Nguyen ◽  
Duy Duong Pham
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Trajectory Tracking Control ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

This paper proposes an integral sliding mode for trajectory tracking control of robotic manipulators. Our proposed control method is developed on the foundation of the benefits in both integral sliding mode control and adaptive twisting control algorithm, such as high robustness, high accuracy, estimation ability, and chattering elimination. In this paper, the proposed integral sliding mode controller is designed with the elimination of the reaching phase to offer better trajectory tracking precision and to stabilize the robot system. To reduce the calculation burden along with chattering rejection, an adaptive twisting controller with only one simple adaptive rule is employed to estimate the upper-boundary values of the lumped uncertainties. Accordingly, the requirement of their prior knowledge is removed and then decrease the computation complexity. Consequently, this control method provides better trajectory tracking accuracy to handle the dynamic uncertainties and external disturbances more strongly. The system global stability of the control system is guaranteed by using Lyapunov criteria. Finally, simulated examples are performed to analyze the effectiveness of our control approach for position pathway tracking control of a 2-DOF parallel manipulator.

scholarly journals Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1289
Author(s):  
Dongdong Yuan ◽  
Yankai Wang
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Data Driven ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

scholarly journals Adaptive Fuzzy Sliding Mode Control for a 3-DOF Parallel Manipulator with Parameters Uncertainties

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Haiqiang Zhang ◽  
Hairong Fang ◽  
Dan Zhang ◽  
Xueling Luo ◽  
Qi Zou
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Parallel Manipulator ◽  
Control Method ◽  
Sliding Mode ◽  
Parallel Manipulators ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

Parallel manipulators possess the advantages of being compact structure, high stiffness, stability and high accuracy, so such parallel manipulators have been widely employed in application fields as diverse as parallel kinematic machine, motion simulator platform, medical rehabilitation device, and so on. Due to the complexity of the closed-loop structural system, an accurate dynamic model is very difficult to be derived in the absence of some uncertainties parameters and external disturbances. In order to improve the trajectory tracking accuracy with time-varying and nonlinear parameters, this paper addresses the design and implement of adaptive fuzzy sliding mode control (AFSMC) for a three-degree-of-freedom (DOF) parallel manipulator, where internal force term can be linearly separated into a regression matrix and a parameter vector that contains the estimated errors. Furthermore, fuzzy inference unit is utilized to modify the gain parameters in real-time by using the state feedback from the task space and the adaptive law is performed to update uncertainties in dynamic parameters. The proposed controller is deduced in the sense of Lyapunov theory to guarantee the stability while improving the trajectory tracking performance. Finally, simulation experiment results demonstrate that the proposed control method is insensitive to uncertainties and disturbances and permits to decrease the requirement for the bound of these uncertainties, which validate the effectiveness of the developed control method and exhibit good trajectory tracking performance compared with sliding mode control (SMC) and fuzzy sliding model control (FSMC).

Design of Sliding Mode Control Based on Nonlinear Observer for Nonlinear System

2011 ◽  
Vol 109 ◽  
pp. 541-546 ◽  
Author(s):  
Hui Da Duan ◽  
Yan Tao Tian ◽  
De Jun Liu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Sliding Mode ◽  
Uncertain System ◽  
Nonlinear Observer ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Nonlinear Uncertain System ◽  
Plate System

A new sliding mode controller for trajectory tracking of ball and plate system is proposed. In the controller, a nonlinear observer which is independent on plant model is used to observer the uncertainties and disturbance of the system. This paper proved that the nonlinear observer is convergence by properly selecting the parameters of observer. Sliding mode controller based on nonlinear observer is designed for the ball and plate system and it can guarantee stabilization of closed-loop system. The results of simulation and experiments indicate that the proposed nonlinear observer can observer uncertainties and disturbance of system, the proposed sliding mode control method is effectively to solve the problems of trajectory tracking in the nonlinear ,uncertain system.

Moving-horizon-estimator-integrated adaptive hierarchical sliding mode control for flexible hypersonic vehicles considering aeroservoelastic effect

2020 ◽  
pp. 095441002097755
Author(s):  
Erkang Chen ◽  
Wuxing Jing ◽  
Changsheng Gao
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Mode Control ◽  
Gain Adaptation ◽  
Sliding Mode Disturbance Observer ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Adaptation Law

In order to solve the attitude control problem of flexible hypersonic vehicles with consideration of aeroservoelastic effect, uncertainty and external disturbance, a novel moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme is presented in this paper. First, the measurement model considering flexibility is established and the influence of aeroservoelastic effect on system stability is analyzed. Then moving horizon estimator is developed to reconstruct full state information from sensor measurements, while sliding mode disturbance observer and gain adaptation law is proposed to enhance the robustness and attenuate the chattering. Via combining moving horizon estimator, sliding mode disturbance observer, gain adaptation law and baseline hierarchical sliding mode controller, the moving-horizon-estimator-integrated adaptive hierarchical sliding mode control scheme that is able to achieve the control objective of both precise attitude control and active flexible vibration suppression is developed. Finally, Lyapunov theory is used to prove the stability of the proposed control scheme, and the numerical simulations are carried out, which further verify the effectiveness of the proposed control scheme against aeroservoelastic effect, uncertainty and external disturbance.

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